01675nas a2200205   4500008004100000022002200041245005100063210004800114260002000162300001400182490004800196520106700244653001201311653001301323100001601336700001401352700002001366700001501386856006801401       2014                        eng d  a978-1-4471-6532-300aA Fabric-based Approach for Softness Rendering0 aFabricbased Approach for Softness Rendering  bSpringer-Verlag  a219 - 2400 vSpringer Series on Touch and Haptic Systems3 a<p>In this chapter we describe a softness display based on the contact area spread rate (CASR) paradigm. This device uses a stretchable fabric as a substrate that can be touched by users, while contact area is directly measured via an optical system. By varying the stretching state of the fabric, different stiffness values can be conveyed to users. We describe a first technological implementation of the display and compare its performance in rendering various levels of stiffness with the one exhibited by a pneumatic CASR-based device. Psychophysical experiments are reported and discussed. Afterwards, we present a new technological implementation for the fabric-based display, with reduced dimensions and faster actuation, which enables rapid changes in the fabric stretching state. These changes are mandatory to properly track typical force/area curves of real materials. System performance in mimicking force-area curves obtained from real objects exhibits a high degree of reliability, also in eliciting overall discriminable levels of softness.</p>
10aHaptics10aRobotics1 aBianchi, M.1 aSerio, A.1 aScilingo, E. P.1 aBicchi, A.  uhttp://link.springer.com/chapter/10.1007%2F978-1-4471-6533-0_11